• Proceedings of the KSME Conference
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• 2000.04a
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• pp.556-561
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• 2000

This paper deals with the control of an active bending actuator fur a catheter. The bending actuator with 40mm in length utilizes three zigzag SMA (shape memory alloy) springs which are equally located in the circumference between inner $({\phi}2.5 mm)$ and outer $({\phi}3.0mm)$ tube. It is purposed on realization of desired bending angle $(90^{\circ})$ and direction $(360^{\circ})$. It is also installed in front of the catheter and used to guide a path at extremely bent or branched blood vessel. The performance-analysis of the bending actuator are investigated fur the purpose of optimizing the control of the bending actuator. The analog joy stick is used to command a bending angle and direction for the fast and accurate response. According to the commands of the joy stick, tensile force of each SMA spring is computed and obtained by controlling the temperature of each SMA spring using PWM (pulse width modulation) of supplied electric power.

• Tribology and Lubricants
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• v.15 no.3
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• pp.278-286
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• 1999

To predict the behavior of the intravascular micro active endoscope in the real human vascular system, a human mock circulation system was developed. The intravascular micro active endoscope which consists of micro active bending catheter and micro drug infusion catheter was driven in the velocity, Re number and temperature controlled flow. The three SMA (Shape Memory Alloy) zigzag type spring in the micro active bending catheter was heated by the electric current generated by PWM controller, and the shape memory effect made the actuator bend to any direction. The micro drug infusion catheter was driven through the inner hole of the micro active bending catheter. A mock circulation system is shaped from Ascending Arota to Femoral artery according to a human data (the data contains many vascular sizes and hydrographs of many control points). We developed a vascular model with glass and silicone tubes, and set the flow system with circulation parts, flow settling parts, and lots of valves. The heater and heat-controller was added to the How system to centre! the temperature of the How at 36.5$^{\circ}C$. The result showed that the developed intravascular micro active endoscope could be induced to any point in the vascular model.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.495-498
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• 2002

Recently, the advent of electro-active papers (EAPap) actuators has been reported. In this paper, the possibility of the actuators is demonstrated. EAPap is a paper that produces large displacement with small force under an electrical excitation. EAPap is made with a chemically treated paper by constructing thin electrodes on both sides of the paper. When electrical voltage is applied on the electrodes the EAPap produces bending displacement. To improve the bending performance of EAPap, different paper fibers-softwood, hardwood, bacteria cellulose, cellophane, carbon mixture paper, electrolyte containing paper and Korean traditional paper, in conjunction with additive chemicals were tested. Two attempts were made to construct the electrodes: the direct use of aluminum foil and the gold sputtering technique. It was found that a cellophane paper exhibits a remarkable bending performance. When 2MV/m of excitation voltage was applied on the paper actuator, more than 3mm of tip displacement was observed out of the 30 mm long paper beam. This is quite low excitation voltage compared to that of other EAPs. The actuation principle of electro-active paper (EAPap) and possible applications are addressed.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.615-617
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• 1997

This paper reports experimental results on the fabrication and analysis of millimeter-sized bending actuators for active catheter by use of the shape memory alloy spring and the flexible beam. The major components of micro actuator are shape memory alloy spring, stainless steel strip and two acryl links. The micro actuator with the diameter of 2.0 mm and the length of 25 mm has been fabricated and characterized for the possible application to the micro active catheters. The measured maximum angle is $60^{\circ}$ and the response time is 5 sec.

• Korean Journal of Applied Biomechanics
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• v.31 no.3
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• pp.205-213
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• 2021

Objective: The aim of this study was to analyze body stability Joint coordination pattern though as bending stiffness of shoes during stance phase of running. Method: 47 male subjects (Age: 26.33 ± 2.11 years, Height: 177.32 ± 4.31 cm, Weight: 65.8 ± 3.87 kg) participated in this study. All subjects tested wearing the same type of running shoes by classifying bending stiffness (A shoes: 3.2~4.1 N, B shoes: 9.25~10.53 N, C shoes: 20.22~21.59 N). They ran 10 m at 3.3 m/s (SD ±3%) speed, and the speed was monitored by installing a speedometer at 3 m intervals between force plate, and the measured data were analyzed five times. During running, ankle joint, MTP joint, coupling angle, inclination angle (anterior-posterior, medial-lateral) was collected and analyzed. Vector coding methods were used to calculate vector angle of 2 joint couples during running: MTP-Ankle joint frontal plane. All analyses were performed with SPSS 21.0 and for repeated measured ANOVA and Post-hoc was Bonferroni. Results: Results indicated that there was an interaction between three shoes and phases for MTP (Metatarsalphalangeal) joint angle (p = .045), the phases in the three shoes showed difference with heel strike~impact peak (p1) (p = .000), impact peak~active peak (p2) (p = .002), from active peak to half the distance to take-off until take-off (p4) (p = .032) except for active peak~from active peak to half the distance to take-off (p3) (p = .155). ML IA (medial-lateral inclination angle) for C shoes was increased than other shoes. The coupling angle of ankle angle and MTP joint showed that there was significantly difference of p2 (p = .005), p4 (p = .045), and the characteristics of C shoes were that single-joint pattern (ankle-phase, MTP-phase) was shown in each phase. Conclusion: In conclusion, by wearing high bending stiffness shoes, their body instability was increased during running.

• Journal of the Korean Ceramic Society
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• v.33 no.3
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• pp.251-258
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• 1996

The reactions between an active metal brazing alloy and interlayers together with the effects of interlayer type on the interfacial microstructure change were investiaged for silicon nitride/stainless steel joint. The bending strengths were measured for joints with Mo, Cu, Ni interlayer type of different thicknesses. It was found that the interlayer with a low yield strength value is effective to improve the bending strength of the Si3N4/stainless steel joint. The maximum joint strength obtained at room temperature for a laminated Cu/Mo interlayer was about 460 MPa. The combined use of Mo and thin Cu layer was found to be effective in enhancing the bending strength for the Si3N4/S.S.316 joint.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2512-2514
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• 1998

The bending actuator using zigzag type shape memory alloy springs has been fabricated and characterized. The small sized actuator with outer diameter of 3.0mm and inner diameter of 2.0mm could be implemented because zigzag type spring has advantages for thin wall type actuator over the coil type spring. The measured characteristics of the fabricated bending actuator show the possibility of practical application to micro active bending catheter.

• Physical Therapy Korea
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• v.22 no.3
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• pp.50-60
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• 2015

The purpose of this study was to apply the joint mobilization technique to the level of segments with pain and to the level of segments with hypomobility respectively and compare the immediate effects of the joint mobilization technique on the pain, the active cervical range of motion (ROM), and treatment satisfaction of patients with acute mechanical neck pain. After the baseline assessment, forty-two patients were randomized into two groups: a painful group ($n_1=21$) that received joint mobilization at the most painful cervical spine level and a hypomobile group ($n_2=21$) that received joint mobilization at the most hypomobile cervical level. The patients received an intervention that applied unilateral posterior-anterior gliding for 5 minutes and two repetitions of 10 times of active extension motion with distraction. In the Wilcoxon signed-rank test, the painful group and the hypomobile group were improved significantly in all pain variables (p<.001), while the painful group was improved significantly in the active cervical flexion (p<.001), extension (p<.001), left side-bending (p<.01), right side-bending (p=.001), left rotation (p<.001), and right rotation (p<.001). The hypomobile group was significantly improved in active cervical flexion (p=.001), extension (p<.001), left side-bending (p<.05), right side-bending (p=.001), left rotation (p=.001), and right rotation (p<.01) after intervention. In the Mann-Whitney U test, there was no significant difference in any of the dependent variables after the intervention between the two groups, but the painful group was slightly superior to the hypomobile group in all variables except for the right lateral flexion ROM and treatment satisfaction. These outcomes suggest that the cervical joint mobilization may be applied to either the level of painful segments or the hypomobile segments for the treatment of patients with acute mechanical neck pain.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.12
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• pp.1310-1316
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• 2008

Bi-layer and tri-layer structures of electro-active paper(EAPap) using conductive polyaniline(PANI) coating were investigated to improve bending displacement of cellulose EAPap. Two different counter ions, perchlorate($CIO_4^-$) and tetrafluoroborate($BF_4^-$), are used as dopant ions in the PANI processing. The actuation performances of hi-layer and tri-layer structure are evaluated in terms of tip displacement, blocked force, strain energy density and power output density. The actuation performance of the tri-layer actuator was better than the hi-layer structure, and the maximum displacement and blocked force of tri-layer $CIO_4^-$ doped-PANI-EAPap were 13.2 mm and 0.15 mN, respectively. Also the power output of the actuator is similar to the required power of biological muscle application.

• Polymer(Korea)
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• v.26 no.1
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• pp.105-112
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• 2002

The low actuation voltage and quick bending response of IPMC(ion-exchange polymer metal composite) are considered attractive for the construction of various types of actuators. In this study, in order to develop a new type actuators by using the IPMC platinum electrode of IPMC are fabricated by using electroless impregnation-reduction method plating. As the platinum-plating times are increased, IPMC performance was improved in terms of bending displacement and force due to the enhanced surface conductivity. In addition, we investigated the basic actuation characteristics of resonance frequency and actuator length as well as the effect of water uptake and ion mobility. Using the classical laminate theory(CLT), a modeling methodology was developed to predict the deformation, bending moment, and residual stress distribution of anisotropic IPMC thin plates. In this modeling methodology, the internal stress evolved by the unsymmetric distribution of water inside IPMC was quantitatively calculated and subsequently the bending moment and the curvature were estimated for various geometry of IPMC actuator.